IAI America ERC - Manual (Page 88)

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5.2 Explanation of Modes
5.2.1 Positioning Mode Push = 0
5.2.2 Push & Hold Mode Push = Other than 0
(1) Load was contacted successfully
(1) After reaching the target position, the actuator
will move at low speed (75 rpms).
When the Pos. band set in the data table (see
Note) is reached after the actuator contacts the
load and the stepper motor current has reached
the current-limiting value, the position complete
output will turn ON.
Note: Set the parameter “Push & hold stop
judgment period.” The default value of
“255 [msec]” is already entered.
The actuator is holding the load in position while
pushing it.
Warning
The actuator continues to push the load at the push force at standstill determined by the
current-limiting value. Since the actuator is not inactive, exercise due caution when
handling the machine in this condition.
The push speed is set as follows in accordance with the speed set in the position-data table:
Set speed
20 mm/sec or more Less than 20 mm/sec
Push speed 20 mm/sec Set speed
Position complete signal
Output
(1) The position complete output will turn
ON at a position preceding the target
position by the positioning band.
Spee
d
Moving distance
Positioning band
Spee
d
Moving distance
Positioning band
Position complete signal
Output